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a/util: Add header for box intersection over union

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Moses Turner 2022-11-02 20:12:57 -05:00 committed by Moses Turner
parent 8f14c572ee
commit b8a586175d
2 changed files with 71 additions and 45 deletions
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68
src/xrt/auxiliary/util/u_box_iou.hpp Normal file
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@ -0,0 +1,68 @@
// Copyright 2021-2022, Collabora, Ltd.
// SPDX-License-Identifier: BSL-1.0
/*!
* @file
* @brief Code to deal with bounding boxes for camera-based hand-tracking.
* @author Moses Turner <moses@collabora.com>
* @author Marcus Edel <marcus.edel@collabora.com>
* @ingroup aux_util
*/
#pragma once
#include <math.h>
#include "xrt/xrt_defines.h"
namespace xrt::auxiliary::util::box_iou {
struct Box
{
float cx;
float cy;
float w;
float h;
// No uninitialized memory!
Box() : cx(0.0f), cy(0.0f), w(0.0f), h(0.0f) {}
Box(float cx, float cy, float w, float h) : cx(cx), cy(cy), w(w), h(h) {}
Box(float cx, float cy, float size) : cx(cx), cy(cy), w(size), h(size) {}
Box(xrt_vec2 &center, float size) : cx(center.x), cy(center.y), w(size), h(size) {}
};
static float
overlap(float x1, float w1, float x2, float w2)
{
float l1 = x1 - w1 / 2;
float l2 = x2 - w2 / 2;
float left = l1 > l2 ? l1 : l2;
float r1 = x1 + w1 / 2;
float r2 = x2 + w2 / 2;
float right = r1 < r2 ? r1 : r2;
return right - left;
}
static float
boxIntersection(const Box &a, const Box &b)
{
float w = overlap(a.cx, a.w, b.cx, b.w);
float h = overlap(a.cy, a.h, b.cy, b.h);
if (w < 0 || h < 0)
return 0;
return w * h;
}
static float
boxUnion(const Box &a, const Box &b)
{
return a.w * a.h + b.w * b.h - boxIntersection(a, b);
}
static float
boxIOU(const Box &a, const Box &b)
{
return boxIntersection(a, b) / boxUnion(a, b);
}
} // namespace xrt::auxiliary::util::box_iou

48
src/xrt/tracking/hand/old_rgb/rgb_nms.hpp
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@ -1,4 +1,4 @@
// Copyright 2021, Collabora, Ltd.
// Copyright 2021-2022, Collabora, Ltd.
// SPDX-License-Identifier: BSL-1.0
/*!
* @file
@ -11,14 +11,9 @@
#include "rgb_sync.hpp"
#include <math.h>
struct Box
{
float cx;
float cy;
float w;
float h;
};
#include "util/u_box_iou.hpp"
using namespace xrt::auxiliary::util::box_iou;
struct NMSPalm
{
Box bbox;
@ -27,43 +22,6 @@ struct NMSPalm
};
static float
overlap(float x1, float w1, float x2, float w2)
{
float l1 = x1 - w1 / 2;
float l2 = x2 - w2 / 2;
float left = l1 > l2 ? l1 : l2;
float r1 = x1 + w1 / 2;
float r2 = x2 + w2 / 2;
float right = r1 < r2 ? r1 : r2;
return right - left;
}
static float
boxIntersection(const Box &a, const Box &b)
{
float w = overlap(a.cx, a.w, b.cx, b.w);
float h = overlap(a.cy, a.h, b.cy, b.h);
if (w < 0 || h < 0)
return 0;
return w * h;
}
static float
boxUnion(const Box &a, const Box &b)
{
return a.w * a.h + b.w * b.h - boxIntersection(a, b);
}
static float
boxIOU(const Box &a, const Box &b)
{
return boxIntersection(a, b) / boxUnion(a, b);
}
static NMSPalm
weightedAvgBoxes(const std::vector<NMSPalm> &detections)